Time varying Control set design for UAV Collision Avoidance Using Reachable Tubes
Conference : 55th IEEE Conference on Decision and Control pp. 6857-6862 , Nevada
Date: December 12 - December 14, 2016
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and disaster search and rescue operations. It is essential for the aircraft to have on-board collision avoidance capability to guarantee safety. Instead of the traditional approach of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking time varying control sets for ego aircraft giving predicted intruder reachable tube. We have applied the approach on a case study of two quadrotors collision avoidance scenario.